Pairwise object relations are closely intertwined with their potential interactions. For instance, in Figure REF  (right) if an object is gently placed on another object it will either stay in place or it might tilt over and fall. Although both of these scenes might classify a discrete object relation as being “above", the exact semantics of these relations are quite different.
To generate object pair interactions we use the V-REP simulator [1]} with the underlying Bullet physics engine (v2.83) [2]}.
For each interaction, we initially create a scene with two objects \(o_i\)  and \(o_j\) .
Each object's shape is chosen from a fixed set of primitive shapes including cuboids, cylinders and spheres.
We generate a voxel representation for this scene using an object-centric approach, i.e., the reference frame of the scene is centered on one of the objects, referred to as the anchor object (\(o_i\) ), while \(o_j\)  is the the referrant object. Figure REF  (right column) shows an example of such a voxel based representation.
To observe the interaction effects of these two objects we keep the anchor object static.
